Multiple tasks manipulation for a robotic manipulator
SCIE
SCOPUS
- Title
- Multiple tasks manipulation for a robotic manipulator
- Authors
- Choi, Y; Oh, Y; Oh, SR; Park, J; Chung, WK
- Date Issued
- 2004-01
- Publisher
- VSP BV
- Abstract
- Robotic manipulators can execute multiple tasks precisely at the same time and, thus, the task-priority scheme plays an important role in implementing multiple tasks. Until now, several algorithms for task-priority have been used in solving the inverse kinematics for redundant manipulators. In this paper, through the comparative study of existing algorithms, we will propose a new method for task-priority manipulation in terms of two important criteria-algorithmic singularity and task error. This manipulation scheme will be applied to a planar three-link manipulator to demonstrate its effectiveness.
- Keywords
- task priority; manipulation; singularity; redundancy; REDUNDANT MANIPULATORS; RESOLUTION
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/17789
- DOI
- 10.1163/1568553041257422
- ISSN
- 0169-1864
- Article Type
- Article
- Citation
- ADVANCED ROBOTICS, vol. 18, no. 6, page. 637 - 653, 2004-01
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- There are no files associated with this item.
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